Active Disturbance Rejection Based Approach for Velocity Control of a Three-Mass System
Main Article Content
Abstract
The paper deals with a velocity control problem of a three-mass system. The equations of motion of the system with limited shaft stiffness and damping is derived via d’Alembert principle. Based on the system dynamics, an active disturbance rejection control is developed for the system via a support of an extended state observer. The designed process with systematic and simple approach shows better performances compared to PID control. Several numerical simulation scenarios are carried out to verify the robustness of the control.
Keywords
Three-mass system, active disturbance rejection, extended state observer, vibration suppression
Article Details
References
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[14] T. H. Do; Application of First-order Active Disturbance Rejection Control for Multivariable Process, Special Issue on Measurement, Control and Automation, Vol 17, pp. 30–35, 2016.
[15] S. Zhao and Z. Gao; An Active Disturbance Rejection based Approach to Vibration Suppression in Two-Inertia Systems; Asian Journal of Control, Vol 15, No. 3, pp. 146–155, 2013.
[16] D. Luczak; Mathematical Model of Multi-mass Electric Drive System with Flexible Connection; 9th International Conference on Methods and Models in Automation and Robotics, pp. 590–595, 2014.
[17] H. Ikeda, T. Hanamoto, T. Tsuji and M. Tomizuka; Design of Vibration Suppression Controller for 3-Inertia System Using Taguchi Method; International Symposium on Power Electronics; Electrical Drives, Automation and Motion, pp. 19–23, 2006.
[18] H. Ikeda, T. Hanamoto and T. Tsuji; Vibration Suppression Controller for 3-Mass System Designed by Particle Swarm Optimization; International Conference on Electrical Machines and Systems, 2009.
[19] D. Yoo, S. S. T. Yau, Z. Gao (2006); On convergence of the linear extended observer; Proceedings of the IEEE International Symposium on Intelligent Control, Munich, Germany. pp. 1645–1650, 2006.
[20] G. Herbst; A Simulative Study on Active Disturbance Rejection Control as a Control Tool for Practitioners; In Siemens AG, Clemens-Winkler-Straße 3, Germany, 2013.
[2] S. Brock, D. Luczak, K. Nowopolski, T. Pajchrowski, and K. Zawirski; Two Approaches to Speed Control for Multi-Mass System with Variable Mechanical Parameters; IEEE Transactions on Industrial Electronics, vol. 64, no. 4, pp. 3338–3347, 2017.
[3] C. Ma and H. Yoichi; Backlash Vibration Suppression Control of Torsional System by Novel Fractional Order PIDk Controller, vol. 124, no. 3, pp. 312–317, 2004.
[4] J. Víttek, V. Vavruš, P. Bris, and L. Greg; Forced Dynamics Control of the Elastic Joint Drive with Single Rotor Position Sensor, Automatica; Journal for Control, Measurement, Electronics, Computing and Communications, vol. 54, no. 3, pp. 337–347, 2013.
[5] Ł. Dominik and K. Nowopolski; Identification of multi-mass mechanical systems in electrical drives; Proceedings of the 16th International Conference on Mechatronics – Mechatronika 2014.
[6] P. J. Serkies and K. Szaba; Model predictive control of the two-mass with mechanical backlash; Computer Applications in Electrical Engineering, pp. 170–180, 2011.
[7] M. Mola, A. Khayatian, and M. Dehghani; Backstepping position control of two-mass systems with unknown backlash; 2013 9th Asian Control Conference, ASCC 2013.
[8] H. Ikeda, T. Hanamoto; Fuzzy Controller of Three-Inertia Resonance System designed by Differential Evolution; Journal of International Conference on Electrical Machines and Systems Vol. 3, No. 2, pp. 184–189, 2014.
[9] J. Han; From PID to active disturbance rejection control; IEEE Trans. Ind. Electronics., Vol 56, No. 3, pp. 900–906, 2009.
[10] Z. Gao, Y. Huang, J. Han; An alternative paradigm for control system design; Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida, December 4-7, pp. 4578–4585, 2001.
[11] Z. Gao (2003); Scaling and Parameterization Based Controller Tuning; Proceedings of the 2003 American Control Conference, pp. 4989–4996, 2003.
[12] Y. X. Su, C. H. Zheng, B. Y. Duan; Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors; IEEE Trans. Ind. Electron. 52, 814–823, 2005.
[13] Q. Zheng, Z. Chen, Z. Gao; A Dynamic Decoupling Control and Its Applications to Chemical Processes; Proceeding of American Control Conference, New York, USA, 2007.
[14] T. H. Do; Application of First-order Active Disturbance Rejection Control for Multivariable Process, Special Issue on Measurement, Control and Automation, Vol 17, pp. 30–35, 2016.
[15] S. Zhao and Z. Gao; An Active Disturbance Rejection based Approach to Vibration Suppression in Two-Inertia Systems; Asian Journal of Control, Vol 15, No. 3, pp. 146–155, 2013.
[16] D. Luczak; Mathematical Model of Multi-mass Electric Drive System with Flexible Connection; 9th International Conference on Methods and Models in Automation and Robotics, pp. 590–595, 2014.
[17] H. Ikeda, T. Hanamoto, T. Tsuji and M. Tomizuka; Design of Vibration Suppression Controller for 3-Inertia System Using Taguchi Method; International Symposium on Power Electronics; Electrical Drives, Automation and Motion, pp. 19–23, 2006.
[18] H. Ikeda, T. Hanamoto and T. Tsuji; Vibration Suppression Controller for 3-Mass System Designed by Particle Swarm Optimization; International Conference on Electrical Machines and Systems, 2009.
[19] D. Yoo, S. S. T. Yau, Z. Gao (2006); On convergence of the linear extended observer; Proceedings of the IEEE International Symposium on Intelligent Control, Munich, Germany. pp. 1645–1650, 2006.
[20] G. Herbst; A Simulative Study on Active Disturbance Rejection Control as a Control Tool for Practitioners; In Siemens AG, Clemens-Winkler-Straße 3, Germany, 2013.